Research on Decoupling of Parallel Six-Axis Force/Torque Sensor Based on an Independent Component Analysis

This study proposes a parallel six-axis force/torque sensor decoupling method based on an independent component analysis (ICA), and the experimental platform is built for exploration. First of all, structural model mathematical are introduced, which composed single-dimensional force sensors with central symmetry. Secondly, test prototype was developed to perform online static loading sensor, results were analyzed. Finally, ICA-based dynamic carried out, effectiveness rationality proposed algorithm proved. The research this paper have certain reference values further sensors.